School of Mechanical and Manufacturing Engineering

(SMME)

Dr. Niaz Bahadur Khan

APPLICATIONS

• Why we study Vibration

?
• Practical applications
?

2
VIBRATION IN OUR LIVES
 Our heat beat, our lungs oscillate
 We hear ----- Ear drum vibrates

 We see…. Light waves undergo vibration

 We speak….. Oscillatory motion of larynges (

tongue)
 Walking…. Periodic oscillation motion of legs and
hands

3
APPLICATIONS

4
EXAMPLES

5
EXAMPLES

6
EXAMPLES

7
APPLICATIONS

8
APPLICATIONS

9
APPLICATIONS

10
https://www.youtube.com/watch?v=0FeXjhUEXlc
WHY WE STUDY VIBRATION?
 Vibration cause discomfort and loss of efficiency
 Vibration of instrument panels can cause their
malfunction or difficulty in reading the meters
 Causes mechanical failures

 Structure or machine components subjected to

vibration can fail because of material fatigue
resulting from cyclic variation of the induced
stresses.
 Rapid wear in machine parts (bearing and gears).
Also, result fasteners to become loose.

11
WHY WE STUDY VIBRATION?
 Natural frequency of structure/ equipment
coincides with the frequency of external
excitation Resonance
 Excessive deflection  failure
 Due to devastating effects, vibration testing is
considered as standard procedure in design and
development of most engineering systems.

12
GOAL
 Reduce the vibration through proper design
 Uniform material
 Removal of imbalance

 Design such supporting structure that diminish

the impact of vibrations

13
BASIC CONCEPTS OF VIBRATION
 Any motion that repeats itself after an interval of
time is called vibration or oscillation
 Swinging of pendulum
 Motion of plucked string

 Theory of vibration deals with the study of

oscillatory motions of bodies and forces
associated with them

14
BASIC CONCEPTS OF VIBRATION
 Elementary parts of vibrating system
 Means for storing potential energy (Spring or
elasticity)
 Means for storing kinetic energy ( Mass or inertia)
 Means by which energy lost ( Damper)

15
 Transfer of Potential energy to Kinetic energy &
Kinetic energy to Potential energy, alternatively
 If the system is damped, some energy dissipated
in each cycle.
Potential Energy:

Restoring Torque

16
VIBRATING SYSTEM: ROTATIONAL
ELEMENTS

17
DEGREE OF FREEDOM
 Degree of freedom (DOF): minimum number of
independent coordinates required to determine
completely the positions of all parts of a system
at any instant of time

18
TWO DOF SYSTEMS

19
THREE DOF SYSTEMS

20
DEGREE OF FREEDOM: INFINITE
 Cantilever beam
 Continuous elastic members
 We need infinite number of coordinates to specify
its deflected configuration
 Most structural and machine system have
deformable (elastic) members and therefore have
infinite number of degree of freedom
 System with finite number of DOF are called
Discrete or lumped parameter system
 System with an infinite number of DOF are
called continuous or distributed system
The strict definition of number of degrees of
freedom is n = number of masses * number of 21
possible types of motion for each mass.
CLASSIFICATION OF VIBRATION
 Free Vibration: if a system, after initial
disturbance, is left to vibrate on its own without
the support of external force is known as Free
vibration. E.g. Simple pendulum
 Forced Vibration: if a system is subjected to
external force ( often, a repeating type of force),
the resulting vibration is known as forced
vibration e.g. oscillation arises in engines
 If the frequency of the external force coincides with
one of the natural frequencies of the system, a
condition known as resonance
 Results in large deflection e.g. failure in building,
bridges, turbines and airplane wings 22
UNDAMPED AND DAMPED VIBRATION
 Undamped vibration: if no energy is lost or
dissipated in friction or other resistance during
oscillation
 Damped vibration: if any energy is lost or
dissipated during oscillation
 In many physical systems, the amount of damping is
so small that it can be neglected
 Impact of damping become significant near resonance
phenomenon.

23
LINEAR AND NON LINEAR VIBRATION
 If all the basic components of vibrating systems
(spring, mass and damper) behave linearly, the
resulting vibration is known as linear oscillation
 If any of the basic components behave
nonlinearly, the resulting vibration is called
nonlinear vibration
 The differential equations that govern the behavior of
linear and nonlinear vibratory systems are linear and
nonlinear, respectively.
 Since all vibratory systems tend to behave
nonlinearly with increasing amplitude of oscillation,
a knowledge of nonlinear vibration is desirable in
dealing with practical vibratory systems.
24
DETERMINISTIC AND RANDOM VIBRATION
 If the magnitude of the excitation (force or
motion) on a vibratory system is known at any
given time, the excitation is called deterministic.
 If the magnitude of excitation at a given time
cannot be predicted, the excitation is known as
non deterministic or random vibration.
 In such cases, large collection of records of the
excitation may exhibit some statistical regularity.
 Road roughness, wind velocity and ground motion
during earthquakes are example of random vibration.

25
VIBRATION ANALYSIS PROCEDURE
 A vibratory system is a dynamic system for which
the variables such as the excitation (input) and
responses (output) are time-dependent.
 Depends on initial conditions as well as external
excitation
 Not possible to consider all complexity for
mathematical analysis
 Overall behavior of the system can be determined by
considering even a simple model of the complex
physical system

26
STEP 1: MATHEMATICAL MODELING
 Mathematical modeling is to represent all the
important features of the system for purpose of
deriving the mathematical equations governing
the system’s behavior
 Mathematical model may be linear or nonlinear
depending on the behavior of the system’s
component.
 First, a very crude or elementary model is used to get
a quick insight into the overall behavior of the
system
 Subsequently, model is refined by including more
components and/or details so that the behavior of the
system can be observed more quickly 27
STEP 2: DERIVATION OF GOVERNING
EQUATIONS

 After mathematical modeling, we use principal of

dynamics and derive the equations that describe
the vibration of the system
 Free body diagram (FBD) is used to derived
equation of motions
 FBD of a mass can be obtained by isolating the
mass and indicating all externally applied forces,
the reactive forces and the inertia forces.
 Equations of motion
 Usually in form of set of ordinary differential
equation for discrete system
 In form of partial differential equation for continuous
system
 Using Newton’s 2nd law, D’Alembert’s principle, and 28
the principle of conservation of energy
STEP 3: SOLUTION OF THE GOVERNING
EQUATIONS

 Equations must be solved to find the response of

the vibrating system
 Different methods are used to solve the equation
 Standard methods of solving differential equations
 Laplace transform methods
 Matrix methods and Numerical method

 Numerical method involving computers can be

used to solve the equations

29
STEP 4: INTERPRETATION OF THE RESULTS
 The solution of the governing equations gives the
displacement, velocities and acceleration of the various
masses of the system
 Results must clearly interpret the purpose of analysis
 The analytical methods have their own limitations. It is
therefore necessary to make practical vibration
measurements under certain circumstances. The
measurements involve not only the measurement of the
response of the system to actual perturbation forces being
experienced but also for determining the inherent
structural properties such as mass distribution, stiffness
distribution (springs in discrete systems) and the damping.
The measured data then can be used to make discrete
system models which can be used for parametric studies
which then can become a very powerful tool for design as
well as for solving the existing vibration problem.
 Solving a vibration problem or designing equipment such
that it will not fail prematurely does require inputs of both
analytical as well as the experimental methods. 30
EXAMPLE
Develop mathematical models of the
system for investigating vibration in the
vertical direction. Consider the elasticity
of the tires, elasticity and damping of the
struts (in the vertical direction), masses
of the wheels, and elasticity,
damping, and mass of the rider.

31
32
33
34
35
 How will be simplified mass-spring-damper
model of human body standing on vibrating
platform??

36
SPRING ELEMENT
 A spring is a type of mechanical link, which in
most applications is assumed to have negligible
mass and damping
 The most common type of spring is the helical-
coil spring used in retractable pens and pencils,
staplers, and suspensions of freight trucks and
other vehicles
 Any elastic or deformable body or member, such
as a cable, bar, beam, shaft or plate, can be
considered as a spring.

37
SPRING ELEMENT (CONT’D)
 A spring is said to be linear
if the elongation or reduction
in length x is related to the
applied force F as
F = kx
Where k is a constant, known as spring constant or
spring constant or spring rate
 When the spring is stretched, a restoring force is
developed opposite to the applied force.
 If we plot a graph between F and x, the result is a
straight line.
 The work done (U) in deforming a spring is stored as
strain or potential energy in the spring, and it is
given by
1
𝑈 = 𝑘𝑥 2 38
2
SPRING ELEMENT (CONT’D)
 Most springs used in practical systems exhibit a
nonlinear force-deflection relation, particularly
when the deflections are large.
𝐹 = 𝑎𝑥 + 𝑏𝑥 3 , a>0
A denotes the constant associated with the linear
part and b indicates the constant associated with
nonlinearity
 System involving two or more

springs may exhibit nonlinear

force displacement relationship
, although the individual springs
are linear. 39
COMBINATION OF SPRINGS
 Some systems, involving two or more springs,
may exhibit a nonlinear force-displacement
relationship although the individual springs are
linear.

40
COMBINATION OF SPRINGS
 Example

41
SPRING ELEMENT (CONT’D)
 Actual spring are nonlinear

 Now what to do?

 approximate non-linear behavior to a linear
one; Linearization. 42
LINEARIZATION PROCESS

Static equilibrium load F cause a deflection of x*,. If an

incremental force ∆F is added to F, the spring deflect by 43
additional quantity ∆x. The new F+ ∆F can be expressed
using Taylor’s series expansion
LINEARIZATION PROCESS

44
EXAMPLE 1.2

 Solution: Static equilibrium position

 Keq at static equilibrium position can be determined as:

45
46
 Elastic elements like beams also behave like
spring

Appendix B from Book 47

Deflection for different beams

SPRING ELEMENTS: COMBINATION OF SPRINGS

 Spring in Parallel

48
SPRING ELEMENTS: COMBINATION OF SPRINGS

 Spring in series

49
FIND THE EQUIVALENT SPRING STIFFNESS FOR
GIVEN SYSTEM

50
SPRING ELEMENTS: EQUIVALENT K OF
HOISTING DRUM

Assume that the net cross-sectional diameter

of the wire rope is d and the Young s
modulus of the beam and the wire rope is E.

51
HOMEWORK
 Study Example 1.5

53
MASS OR INERTIA ELEMENT
 Mass or inertia element assume to be a rigid body
 Can gain or lose kinetic energy whenever the velocity
of the body changes
 Work is equal to the force multiplied by the
displacement in the direction of the force, and the
work done on a mass is stored in the form of the
mass’s kinetic energy
 Mathematical model to represent the actual vibrating
system, and there are often several possible models
 Once the model is chosen, the mass or inertia
elements of the system can be easily identified.
 Consider Cantilever beam with an end mass?
 Ignore mass and damping of the beam
 The tip mass m represents the mass element, and the
54
elasticity of the beam denotes the stiffness of the spring.
MASS OR INERTIA ELEMENTS: COMBINATION
OF MASSES

 Consider a multistory building subjected to an

earthquake.
 Assuming that the mass of the

frame is negligible compared to

the masses of the floors, the
building can be modeled as a
multi-degree-of-freedom system
 The masses at the various floor

levels represent the mass elements, and the

elasticities of the vertical members denote the
spring elements.
55
MASS OR INERTIA ELEMENTS: COMBINATION
OF MASSES

56